Garuda - Garba Rujukan Digital

Pedestrian Detection using Triple Laser Range Finders Abdul Hadi Abd Rahman; Khairul Akram Zainol Ariffinv; Nor Samsiah Sani; Hairi Zamzuri
International Journal of Electrical and Computer Engineering (IJECE) Vol 7, No 6: December 2017
Publisher : Institute of Advanced Engineering and Science

Pedestrian detection is one of the important features in autonomous ground vehicle (AGV). It ensures the capability for safety navigation in urban environment. Therefore, the detection accuracy became a crucial part which leads to implementation using Laser Range Finder (LRF) for better data representation. In this study, an improved laser configuration and fusion technique is introduced by implementation of triple LRFs in two layers with Pedestrian Data Analysis (PDA) to recognize multiple pedestrians. The PDA integrates various features from feature extraction process for all clusters and fusion of multiple layers for better recognition. The experiments were conducted in various occlusion scenarios such as intersection, closed-pedestrian and combine scenarios. The analysis of the laser fusion and PDA for all scenarios showed an improvement of detection where the pedestrians were represented by various detection categories which solve occlusion issues when low numberof laser data were obtained.

The Fusion of HRV and EMG Signals for Automatic Gender Recognition during Stepping Exercise Nor Aziyatul Izni Mohd Rosli; Mohd Azizi Abdul Rahman; Malarvili Balakrishnan; Saiful Amri Mazlan; Hairi Zamzuri
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 2: June 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i2.6113

In this paper, a new gender recognition approach in accordance with the fusion of features extracted from electromyogram (EMG) and heart rate variability (HRV) during stepping activity using a stair stepper device is proposed. The fusion of EMG and HRV is investigated based on feature fusion approach. The feature fusion is carried out by chaining the feature vector extracted from the EMG and HRV signals. A proposed approach comprises of a sequence of processing steps which are preprocessing, feature extraction, feature selection and the feature fusion. The results demonstrated that the fusion approach had enhanced the performance of gender recognition compared to solely on EMG or HRV for the gender recognition.

Potential Field Based Motion Planning with Steering Control and DYC for ADAS Nurbaiti Wahid; Hairi Zamzuri; Nurhaffizah Hassan; Mohd Azizi Abdul Rahman
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 2: June 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i2.6132

In this study, the development of motion planning and control for collision avoidance driver assistance systems is presented. A potential field approach has been used in formulating the collision avoidance algorithm based on predicted vehicle motion. Then, to realize the advanced driver assistance systems (ADAS) for collision avoidance, steering control system and direct yaw moment control (DYC) is designed to follow the desired vehicle motion. Performance evaluation is conducted in simulation environment in term of its performance in avoiding the obstacles. Simulation results show that the vehicle collision avoidance assistance systems can successfully complete the avoidance behavior without colliding.

Driver`s Steering Behaviour Identification and Modelling in Near Rear-End collision Nurhaffizah Hassan; Hairi Zamzuri; Nurbaiti Wahid; Khairul Akmal Zulkepli; Muhammad Zulfaqar Azmi
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 15, No 2: June 2017
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v15i2.6133

This paper studies and identifies driver`s steering manoeuvre behaviour in near rear-end collision. Time-To-Collision (TTC) is utilized in defining driver’s emergency threat assessment. The target scenario is set up under real experimental environment and the naturalistic data from the experiment are collected. Four normal drivers are employed for the experiment to perform the manoeuvre. Artificial Neural Network (ANN) is proposed to model the behaviour of the driver`s steering manoeuvre. The results show that all drivers manage to perform steering manoeuvre within the safe TTC region and the modelling results from ANN are reasonably positive. With further studies and improvements, this model would benefit to evaluate the driving reliability to enhance traffic safety and Intelligent Transportation System.

Path Tracking on Autonomous Vehicle for Severe Maneuvre Zulkarnain Zulkarnain; Hairi Zamzuri; M. H. M. Ariff; Umar Zakir Abdul Hamid
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 4: August 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i4.9068

Autonomous vehicle consists self-learning process consists recognizing environment, real time localization, path planning and motion tracking control. Path tracking is an important aspect on autonomous vehicle. The main purpose path tracking is the autonomous vehicle have an ability to follow the predefined path with zero steady state error. The non-linearity of the vehicle dynamic cause some difficulties in path tracking problems. This paper proposes a path tracking control for autonomous vehicle. The controller consists of a relationship between lateral error, longitudinal velocity, the heading error and the reference yaw rate. In addition, the yaw rate controller developed based on the vehicle and tyre model. The effectiveness of the proposed controller is demonstrated by a simulation.

Newly Developed Nonlinear Vehicle Model for an Active Anti-roll Bar System Noraishikin Binti Zulkarnain; Hairi Zamzuri; Sarah ’Atifah Saruchi; Mohd Marzuki Mustafa; Siti Salasiah Mokri; Nurbaiti Wahid; Siti Nor Zawani Ahmmad; Alias Jedi
Bulletin of Electrical Engineering and Informatics Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents the development of a newly developed nonlinear vehicle model is used in the validation process of the vehicle model. The parameters chosen in a newly developed vehicle model is developed based on CARSIM vehicle model by using non-dominated sorting genetic algorithm version II (NSGA-II) optimization method. The ride comfort and handling performances have been one of the main objective to fulfil the expectation of customers in the vehicle development. Full nonlinear vehicle model which consists of ride, handling and Magic tyre subsystems has been derived and developed in MATLAB/Simulink. Then, optimum values of the full nonlinear vehicle parameters are investigated by using NSGA-II. The two objective functions are established based on RMS error between simulation and benchmark system. A stiffer suspension provides good stability and handling during manoeuvres while softer suspension gives better ride quality. The final results indicated that the newly developed nonlinear vehicle model is behaving accurately with input ride and manoeuvre. The outputs trend are successfully replicated.

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control Sarah 'Atifah Saruchi; Mohd Hatta Mohammed Ariff; Hairi Zamzuri; Noraishikin Zulkarnain; Mohd Hanif Che Hasan; Sheikh Muhammad Hafiz Fahami
Bulletin of Electrical Engineering and Informatics Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.

Newly Developed Nonlinear Vehicle Model for an Active Anti-roll Bar System Noraishikin Binti Zulkarnain; Hairi Zamzuri; Sarah ’Atifah Saruchi; Mohd Marzuki Mustafa; Siti Salasiah Mokri; Nurbaiti Wahid; Siti Nor Zawani Ahmmad; Alias Jedi
Bulletin of Electrical Engineering and Informatics Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents the development of a newly developed nonlinear vehicle model is used in the validation process of the vehicle model. The parameters chosen in a newly developed vehicle model is developed based on CARSIM vehicle model by using non-dominated sorting genetic algorithm version II (NSGA-II) optimization method. The ride comfort and handling performances have been one of the main objective to fulfil the expectation of customers in the vehicle development. Full nonlinear vehicle model which consists of ride, handling and Magic tyre subsystems has been derived and developed in MATLAB/Simulink. Then, optimum values of the full nonlinear vehicle parameters are investigated by using NSGA-II. The two objective functions are established based on RMS error between simulation and benchmark system. A stiffer suspension provides good stability and handling during manoeuvres while softer suspension gives better ride quality. The final results indicated that the newly developed nonlinear vehicle model is behaving accurately with input ride and manoeuvre. The outputs trend are successfully replicated.

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control Sarah 'Atifah Saruchi; Mohd Hatta Mohammed Ariff; Hairi Zamzuri; Noraishikin Zulkarnain; Mohd Hanif Che Hasan; Sheikh Muhammad Hafiz Fahami
Bulletin of Electrical Engineering and Informatics Vol 8, No 1: March 2019
Publisher : Institute of Advanced Engineering and Science

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.

Newly Developed Nonlinear Vehicle Model for an Active Anti-roll Bar System Noraishikin Binti Zulkarnain; Hairi Zamzuri; Sarah ’Atifah Saruchi; Mohd Marzuki Mustafa; Siti Salasiah Mokri; Nurbaiti Wahid; Siti Nor Zawani Ahmmad; Alias Jedi
Bulletin of Electrical Engineering and Informatics Vol 7, No 4: December 2018
Publisher : Institute of Advanced Engineering and Science

This paper presents the development of a newly developed nonlinear vehicle model is used in the validation process of the vehicle model. The parameters chosen in a newly developed vehicle model is developed based on CARSIM vehicle model by using non-dominated sorting genetic algorithm version II (NSGA-II) optimization method. The ride comfort and handling performances have been one of the main objective to fulfil the expectation of customers in the vehicle development. Full nonlinear vehicle model which consists of ride, handling and Magic tyre subsystems has been derived and developed in MATLAB/Simulink. Then, optimum values of the full nonlinear vehicle parameters are investigated by using NSGA-II. The two objective functions are established based on RMS error between simulation and benchmark system. A stiffer suspension provides good stability and handling during manoeuvres while softer suspension gives better ride quality. The final results indicated that the newly developed nonlinear vehicle model is behaving accurately with input ride and manoeuvre. The outputs trend are successfully replicated.

Title

Found 13 Documents
Search

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Title Search

Found 13 Documents Search

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Abstract

Title

Found 13 Documents
Search